Dual hybrid electromagnet module for controlling microrobot
AssigneeKorea Institute of Medical Microrobotics
InventorsJong Oh Park, Ja Young Kim
Life of this patent
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Abstract
The present disclosure relates to a dual hybrid electromagnet module for controlling a microrobot. More specifically, the present disclosure relates to an electromagnetic field system in which a dual hybrid electromagnet module including a permanent magnet and an electromagnet is used for controlling a microrobot so that it is possible to reduce the number of used electromagnets so as to reduce power consumption and the amount of heat generated from the electromagnet module. The electromagnetic field system is capable of being used for various medical procedures and surgeries using a microrobot.
Claims16
An electromagnetic field system comprising:
- a first hybrid electromagnet module;
- and
- a second hybrid electromagnet module,
- wherein the first hybrid electromagnet module comprises a first magnetic body comprising a first permanent magnet, and a first electromagnet comprising a first magnetic core and a first wire wound around the first magnetic core,
- the second hybrid electromagnet module comprises a second magnetic body comprising a second permanent magnet, and a second electromagnet comprising a second magnetic core and a second wire wound around the second magnetic core, and
- the first hybrid electromagnet module and the second hybrid electromagnet module are arranged such that a central axis of the first hybrid electromagnet module and a central axis of the second hybrid electromagnet module cross each other so as to form an intersection point,
- wherein the first electromagnet and the first magnetic body are arranged such that the first electromagnet is located farther from the intersection point, at which the central axes of the first hybrid electromagnet module and the second hybrid electromagnet module intersect, than the first magnetic body in the first hybrid electromagnet module, and
- the second electromagnet and the second magnetic body are arranged such that the second electromagnet is located farther from the intersection point, at which the central axes of the first hybrid electromagnet module and the second hybrid electromagnet module intersect, than the second magnetic body in the second hybrid electromagnet module.
A method of driving a microrobot, the method comprising:
- a driving operation of moving the microrobot into a region of interest (ROI) by applying a current to an electromagnetic field system,
- wherein the electromagnetic field system comprises a first hybrid electromagnet module and a second hybrid electromagnet module,
- the first hybrid electromagnet module comprises a first magnetic body comprising a first permanent magnet, and a first electromagnet comprising a first magnetic core and a first wire wound around the first magnetic core, and
- the second hybrid electromagnet module comprises a second magnetic body comprising a second permanent magnet, and a second electromagnet comprising a second magnetic core and a second wire wound around the second magnetic core, and
- the first hybrid electromagnet module and the second hybrid electromagnet module are arranged such that a central axis of the first hybrid electromagnet module and a central axis of the second hybrid electromagnet module cross each other so as to form an intersection point,
- wherein, the first electromagnet and the first magnetic body are arranged such that the first electromagnet is located farther from the intersection point, at which the central axes of the first hybrid electromagnet module and the second hybrid electromagnet module intersect, than the first magnetic body in the first hybrid electromagnet module, and
- the second electromagnet and the second magnetic body are arranged such that the second electromagnet is located farther from the intersection point, at which the central axes of the first hybrid electromagnet module and the second hybrid electromagnet module intersect, than the second magnetic body in the second hybrid electromagnet module.
Dependencies are inferred from the claim text.